相关论文: $\mathcal{H}_2/\mathcal{H}_\infty$ Optimal Control…
This paper addresses the sparse actuation problem for nonlinear systems represented in the Linear Parameter-Varying (LPV) form. We propose a convex optimization framework that concurrently determines actuator magnitude limits and the…
In this paper, we explore the discrete time sparse feedback control for a linear invariant system, where the proposed optimal feedback controller enjoys input sparsity by using a dynamic linear compensator, i.e., the components of feedback…
In this paper, we propose a sparsity-promoting feedback control design for stochastic linear systems with multiplicative noise. The objective is to identify a sparse control architecture that optimizes the closed-loop performance while…
In this paper, we address the issue of quantifying maximum actuator degradation in linear time-invariant dynamical systems. We present a new unified framework for computing the state-feedback controller gain that meets a user-defined…
We address the problem of sparsity-promoting optimal control of cyber-physical systems with feedback delays. The delays are categorized into two classes - namely, intra-layer delay, and inter-layer delay between the cyber and the physical…
We propose a self-triggered control algorithm to reduce onboard processor usage, communication bandwidth, and energy consumption across a linear time-invariant networked control system. We formulate an optimal control problem by penalizing…
We consider the $\mathbb{H}_2$-optimal feedback control problem, for the case in which the plant is passive with bounded $\mathbb{L}_2$ gain, and the feedback law is constrained to be output-strictly passive. In this circumstance, we show…
We consider the optimal distributed controller design problem subject to two structural requirements: locality, i.e. available measurements and sub-controllers' interactions are governed by a graph structure, and relative feedback, i.e.…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
We present a framework which incorporates three aspects of the estimation problem, namely, sparse sensor configuration, optimal precision, and robustness in the presence of model uncertainty. The problem is formulated in the…
In this paper, we simultaneously determine the optimal sensor precision and the observer gain, which achieves the specified accuracy in the state estimates. Along with the unknown observer gain, the formulation parameterizes the scaling of…
Optimal control is a popular approach to synthesize highly dynamic motion. Commonly, $L_2$ regularization is used on the control inputs in order to minimize energy used and to ensure smoothness of the control inputs. However, for some…
We consider the problem of output feedback controller sparsification for systems with parametric uncertainties. We develop an optimization scheme that minimizes the performance deterioration caused by the sparsification process, while…
We consider the problem of optimal sparse output feedback controller synthesis for continuous linear time invariant systems when the feedback gain is static and subject to specified structural constraints. Introducing an additional term…
We consider the problem of synthesizing optimal linear feedback policies subject to arbitrary convex constraints on the feedback matrix. This is known to be a hard problem in the usual formulations ($\Htwo,\Hinf,\LQR$) and previous works…
A $\mathcal{H}_2$-guaranteed sparse-feedback linear-quadratic (LQ) optimal control with convex parameterization and convex-bounded uncertainty is studied in this paper, where $\ell_0$-penalty is added into the $\mathcal{H}_2$ cost to…
We present a convex optimization to reduce the impact of sensor falsification attacks in linear time invariant systems controlled by observer-based feedback. We accomplish this by finding optimal observer and controller gain matrices that…
Recent years have seen several new directions in the design of sparse control of cyber-physical systems (CPSs) driven by the objective of reducing communication cost. One common assumption made in these designs is that the communication…
This paper provides a comprehensive analysis of the design of optimal structured and sparse $H_\infty$ controllers for continuous-time linear time-invariant (LTI) systems. Three problems are considered. First, designing the sparsest…
In this paper, we present a novel control scheme for feedback optimization. That is, we propose a discrete-time controller that can steer the steady state of a physical plant to the solution of a constrained optimization problem without…